Two-wheeled self-balancing robot

Structure and material
Model airplane-grade shock-absorbing tires

Motor fixing bracket

Wheel coupling

4mm acrylic fixing plate

Physical parameter
Size: 190*135*66mm

Weight: about 900 grams

Hardware parameters

Control chip
Main control chip: STM32F103RCT6

Independent pluggable motor driver chip: TB6612

sensor
MPU6050 gyro sensor, angular velocity sensing range ±250, ±500, ±1000 and ±2000°/sec (dps)

HC-SR04 ultrasonic sensor, measuring range 2CM-400CM, accuracy 3MM.

Acoustic sampling sensor (capacitive, 9MM*7MM, sensitivity 52DB)

Tracking sensor (TSL1401 linear array, linear CCD camera, aluminum alloy bracket)

Communication Interface
1 CAN bus interface

Reserve 1 serial port

Bluetooth (CC2540) wireless communication interface

Linear CCD module interface

Display module
0.96 inch OLED LCD screen module

Device
2600MAH large capacity lithium battery (3S)

4.32W DC motor

Performance parameter
Self-balancing battery life is greater than 20 hours

High-speed sports endurance time is about 45 minutes

Hall encoder resolution 0.23°

Accessory parameters

B3AC smart charger (input voltage 110-240V, maximum charging current 2.4A, can charge 2S/3S)

Demonstration paper accessories for tracing S-line path (50CM*250CM, PVC material plus enhanced grid)

Labyrinth baffle accessories (42CM*35CM, transparent)

Aluminum alloy tool box (34 CM *27 CM *14.5CM)

Experimental support

Basic experiment
Sensor experiment

Ultrasonic sensor experiment, using IO port

Hall sensor experiment, using QEI, timer

Gyro sensor experiment, using I2C

Kalman filter experiment

Accelerometer inclination estimation experiment

Gyroscope for inclination estimation experiment

The inclination estimation experiment of Kalman filter

Kalman filter experiment

Embedded system programming experiment

Interrupt and serial port operation experiment

I2C bus experiment

SPI communication module

Timer experiment

GPIO configuration and Flash reading and writing experiment

OLED display experiment

PWM output experiment

DMA controller experiment

ADC sampling experiment

AD conversion experiment

Advanced experiment
PID control experiment

Current PID control experiment

Speed PID control experiment

Position PID control experiment

Speech experiment

Voice signal acquisition and spectrum analysis

Design of Speech Numerical Filtering System

Comprehensive Experiment

Voice control car experiment

Image-based tracking experiment

Maze experiment

The upper computer draws a line chart of serial port data